检索结果-内蒙古大学图书馆

Three-agent Time-constrained Cooperative Pursuit-Evasion

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Sinha, Abhinav Kumar, Shashi Ranjan Mukherjee, Dwaipayan The Intelligent Systems & Control Lab. Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

This paper considers a pursuit-evasion scenario among three agents– an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on designing effective nonlinear feedback control laws for the evader-defender team using a time-constrained guidance approach. The evader lures the pursuer on the collision course by offering itself as bait. At the same time, the defender protects the evader from the pursuer by exercising control over the engagement duration. Depending on the nature of the mission, the defender may choose to take an aggressive or defensive stance. Such consideration widens the applicability of the proposed methods in various three-agent motion planning scenarios such as aircraft defense, asset guarding, search and rescue, surveillance, and secure transportation. We use a fixed-time sliding mode control strategy to design the control laws for the evader-defender team and a nonlinear finite-time disturbance observer to estimate the pursuer’s maneuver. Finally, we present simulations to demonstrate favorable performance under various engagement geometries, thus vindicating the efficacy of the proposed designs. © 2021, CC BY-NC-SA.

关键词： Motion planning

Network Inference using Sinusoidal Probing

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2021年第9期54卷 696-700页

作者： Robin Delabays Melvyn Tyloo Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zurich Switzerland Center for Control Dynamical Systems and Computation UCSB Santa Barbara CA 93106-5070 USA School of Engineering University of Applied Sciences of Western Switzerland HES-SO CH-1951 Sion Switzerland Institute of Physics École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland

The aim of this manuscript is to present a non-invasive method to recover the network structure of a dynamical system. We propose to use a controlled probing input and to measure the response of the network, in the spirit of what is done to determine oscillation modes in large electrical networks. For a large class of dynamical systems, we show that this approach is analytically tractable and we confirm our findings by numerical simulations of networks of Kuramoto oscillators. Our approach also allows us to determine the number of agents in the network by probing and measuring a single one of them.

关键词： Networks inference processes Jacobian matrices input signals low frequencies

Dynamic allocation of visual attention for vision-based autonomous navigation under data rate constraints

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Pedram, Ali Reza Funada, Riku Tanaka, Takashi Walker Department of Mechanical Engineering University of Texas Austin United States Department of Systems and Control Tokyo Institute of Technology Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States

— This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in which landmark selection is formulated as a combinatorial optimization problem, we model it as a resource allocation problem where the decision-maker (DM) is granted extra freedom to control the degree of attention to each landmark. The total resource available to DM is expressed in terms of the capacity limit of the in-take information flow, which is quantified by the directed information from the state of the environment to the DM’s observation. We consider a receding horizon implementation of such a controlled sensing scheme in the Linear-Quadratic-Gaussian (LQG) regime. The convex-concave procedure is applied in each time step, whose time complexity is shown to be linear in the horizon length if the alternating direction method of multipliers (ADMM) is used. Numerical studies show that the proposed formulation is sparsity-promoting in the sense that it tends to allocate zero data rate to uninformative landmarks. Copyright © 2021, The Authors. All rights reserved.

关键词： Decision making

A Distributed control framework for the optimal operation of DC microgrids

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Fu, Zao Cucuzzella, Michele Cenedese, Carlo Yu, Wenwu Scherpen, Jacquelien M.A. School of Cyber Science and Engineering Southeast University Nanjing211189 China Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia27100 Italy Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zürich Physikstrasse 3 Zürich8092 Switzerland

In this paper we propose an original distributed control framework for DC mcirogrids. We first formulate the (optimal) control objectives as an aggregative game suitable for the energy trading market. Then, based on the dual theory, we analyze the equivalent distributed optimal condition for the proposed aggregative game and design a distributed control scheme to solve it. By interconnecting the DC mcirogrid and the designed distributed control system in a power preserving way, we steer the DC microgrid's state to the desired optimal equilibrium, satisfying a predefined set of local and coupling constraints. Finally, based on the singular perturbation system theory, we analyze the convergence of the closed-loop system. The simulation results show excellent performance of the proposed control framework. © 2022, CC BY-NC-SA.

关键词： Perturbation techniques

Modelling of Microburst Based on the Slanted Vortex-Ring Model

学校读者我要写书评

暂无评论

Chinese Journal of Electronics 2018年第2期27卷 318-323页

作者： LIN Lianlei LI Xilin WANG Gang Department of Automatic Test Control Harbin Institute of Technology Department of Communication Engineering Harbin Institute of Technology

A modelling method of microburst fields based on the slanted vortex-ring model was proposed. Unlike the previous vortex-ring-based model which can only generate the vertically downward microburst fields, the proposed method can produce the slanted microburst fields which are closer to the natural conditions. By setting the slant angle and the orientation angle of the slanted vortexring model, the microburst fields with any slant angle and orientation angle can be generated. A nested DE algorithm was introduced for the selection of model parameters, through which the model parameters can be flexibly and easily determined in accordance with the experimental requirements. A series of experiments were conducted and the results indicate that the proposed method can accurately and effectively generate the microburst fields.

关键词： Microburst Slanted vortex-ring model Nested DE

Over-the-air computation via reconfigurable intelligent surface

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Fang, Wenzhi Jiang, Yuning Shi, Yuanming Zhou, Yong Chen, Wei Letaief, Khaled B. The School of Information Science and Technology ShanghaiTech University Shanghai201210 China Automatic Control Laboratory EPFL Switzerland The Department of Electronic Engineering Tsinghua University Beijing100084 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Over-the-air computation (AirComp) is a disruptive technique for fast wireless data aggregation in Internet of Things (IoT) networks via exploiting the waveform superposition property of multiple-access channels. However, the performance of AirComp is bottlenecked by the worst channel condition among all links between the IoT devices and the access point. In this paper, a reconfigurable intelligent surface (RIS) assisted AirComp system is proposed to boost the received signal power and thus mitigate the performance bottleneck by reconfiguring the propagation channels. With an objective to minimize the AirComp distortion, we propose a joint design of AirComp transceivers and RIS phase-shifts, which however turns out to be a highly intractable non-convex programming problem. To this end, we develop a novel alternating minimization framework in conjunction with the successive convex approximation technique, which is proved to converge monotonically. To reduce the computational complexity, we transform the subproblem in each alternation as a smooth convex-concave saddle point problem, which is then tackled by proposing a Mirror-Prox method that only involves a sequence of closed-form updates. Simulations show that the computation time of the proposed algorithm can be two orders of magnitude smaller than that of the state-of-the-art algorithms, while achieving a similar distortion performance. Copyright © 2021, The Authors. All rights reserved.

关键词： Mirrors

Development of the measuring complex with reduced regulator 2

学校读者我要写书评

暂无评论

Development of the measuring complex with reduced regulator

2nd International Conference on Clean Energy and Electrical systems, CEES 2019

作者： Yang, Guolai Chen, Danhe Selezneva, M.S. Neusypin, K.A. Nanjing University of Science and Technology Department of Mechanical Engineering 210094 China Moscow Bauman State Technical University Department of Automatic Control Systems for Flight Vehicles 105005 Russia

In this paper the measuring complex of a prospective aircraft is investigated. The accuracy of navigation definitions is improved by compensating for errors in the inertial navigation system structure. In this paper based on a reduced nonlinear regulator performed the correction of navigation information, and the state dependent coefficient (SDC) representation of the nonlinear model of inertial navigation system errors is used to obtain the regulator. © 2019 IOP Publishing Ltd. All rights reserved.

关键词： Inertial navigation systems

A comparative study on evolutionary algorithms for the agent routing problem in multi-point dynamic task

学校读者我要写书评

暂无评论

A comparative study on evolutionary algorithms for the agent...

作者： Lu, Sai Xin, Bin Dou, Lihua Wang, Ling School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Department of Automation Tsinghua University Beijing China

The agent routing problem in multi-point dynamic task (ARP-MPDT) proposed recently is a novel permutation optimisation problem. In ARP-MPDT, a number of task points are located at different places and their states change over time. The agent must go to the task points in turn to execute the tasks, and the execution time of each task depends on the task state. The optimisation objective is to minimise the time for the agent to complete all the tasks. In this paper, five evolutionary algorithms are redesigned and tried to solve this problem, including a permutation genetic algorithm (GA), a variant of the particle swarm optimisation (PSO) and three variants of the estimation of distribution algorithm (EDA). In particular, a dual-model EDA (DM-EDA) employing two probability models was proposed. Finally, comparative tests confirm that the DM-EDA has a stronger adaptability than the other algorithms though GA performs better for the large-scale instances. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Genetic algorithms

Universally Robust Quantum control

学校读者我要写书评

暂无评论

Physical Review Letters 2024年第19期132卷 193801-193801页

作者： Pablo M. Poggi Gabriele De Chiara Steve Campbell Anthony Kiely Department of Physics SUPA and University of Strathclyde Glasgow G4 0NG United Kingdom Center for Quantum Information and Control Department of Physics and Astronomy University of New Mexico Albuquerque New Mexico 87131 USA Centre for Quantum Materials and Technology School of Mathematics and Physics Queen’s University Belfast Belfast BT7 1NN United Kingdom School of Physics University College Dublin Belfield Dublin 4 Ireland Centre for Quantum Engineering Science and Technology University College Dublin Belfield Dublin 4 Ireland Dahlem Center for Complex Quantum Systems Freie Universität Berlin Arnimallee 14 14195 Berlin Germany

We study the robustness of the evolution of a quantum system against small uncontrolled variations in parameters in the Hamiltonian. We show that the fidelity susceptibility, which quantifies the perturbative error to leading order, can be expressed in superoperator form and use this to derive control pulses that are robust to any class of systematic unknown errors. The proposed optimal control protocol is equivalent to searching for a sequence of unitaries that mimics the first-order moments of the Haar distribution, i.e., it constitutes a 1-design. We highlight the power of our results for error-resistant single- and two-qubit gates.

关键词： Open quantum systems & decoherence Quantum control Quantum state transfer